Configure new EtherCAT-Device with ROS

[schwarzp93]

Hello all :)

first of all, I'm sorry, if my question might be silly or trivial, but I'm pretty new to the world of EtherCAT.

I'm trying to controll a Festo CPX-FB37 bus node (https://www.festo.com/net/SupportPortal/Files/344605/CPX-FB37_2014-06_8029675g1.pdf) via ros, using SOEM.

I'm already having problems, when using the simple_test or slaveinfo. In both cases, the following error gets displayed:
Not all slaves reached safe operational state.
Slave 1 State=12 StatusCode= 1e : Invalid input configuration

Is there a kind of tutorial on how to start with SOEM? How can I connect new devices, which steps are done automatically, which have to be done manually?

Thanks a lot in advance,

Philipp

Attached you find the outputs of simple_test and slaveinfo.
simpleTest_Output.txt
slaveinfo_Output.txt

[Matthias Gruhler]

hello @schwarzp93

as this is only a wrapper to provide soem as a debian package withing the ROS build system, I'm not sure how much I'll be able to help.

There is a "tutorial" (sort of) on the official soem homepage here.

The attachements don't work, so I cannot really help more...

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